DOI

Recently, adaptive platooning strategies to cope with uncertain vehicle parameters have been proposed. However, in line with most platooning literature, only acyclic graphs have been considered. This work addresses the merging maneuver in the presence uncertain vehicle parameters: during this maneuver, a cyclic communication graph is instantiated, which must be handled in a suitable way. Ideas used to handle this situation and corresponding results are illustrated using a platoon of three vehicles implementing a merging maneuver.